CN108765947A - A kind of automatic Pilot method and its system based on travel speed variation - Google Patents
A kind of automatic Pilot method and its system based on travel speed variation Download PDFInfo
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- CN108765947A CN108765947A CN201810561748.7A CN201810561748A CN108765947A CN 108765947 A CN108765947 A CN 108765947A CN 201810561748 A CN201810561748 A CN 201810561748A CN 108765947 A CN108765947 A CN 108765947A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of automatic Pilot methods and its system based on travel speed variation, including obtain the first image in front of target vehicle travel direction；Judge to whether there is traffic lights in the first image；If so, extracting the colouring information and count down information of traffic lights；Judge whether traffic lights are in green light phase according to colouring information；If so, obtaining the current travel speed of target vehicle, stored travel speed as First Speed；The first distance between target vehicle and traffic lights is calculated according to the first image；The first time of target vehicle exterior traffic signal lamp is calculated according to the first distance and First Speed；Judge whether be more than the time that count down information includes at the first time；If so, calculating second speed according to count down information and the first distance, second speed is the minimum speed of target vehicle exterior traffic signal lamp at the end of countdown；Control targe vehicle is travelled with second speed.
Description
Technical field
The present invention relates to traffic pass through field, more particularly to it is a kind of based on travel speed variation automatic Pilot method and its
System.
Background technology
When driving vehicle is gone out, it is longer apart from the green light countdown end time and apart from traffic lights farther out when, nothing
Method accurately measures the travel speed that road opposite is reached before green light countdown terminates, remaining sufficient in green light countdown
In the case of most people will not all change original travel speed, at the end of countdown is fast, just find can not reach road
Opposite is accelerating hastily at this time, and there are certain security risks.
Invention content
Goal of the invention：In order to overcome the disadvantage in background technology, an embodiment of the present invention provides one kind being based on travel speed
The automatic Pilot method and its system of variation, the problem of can effectively solve the problem that involved in above-mentioned background technology.
Technical solution：A kind of automatic Pilot method based on travel speed variation, includes the following steps：
101：The image in front of target vehicle travel direction is obtained, is stored the image as the first image；
102：Judge to whether there is traffic lights in first image；
103：If so, extracting the colouring information and count down information of the traffic lights, the colouring information includes red
Lamp state, green light phase and amber light state；
104：Judge whether the traffic lights are in green light phase according to the colouring information；
105：If so, obtaining the current travel speed of the target vehicle, the travel speed is deposited as First Speed
Storage；
106：The distance between the target vehicle and the traffic lights are calculated according to first image, by the distance
It is stored as the first distance；
107：It calculates the target vehicle according to first distance and the First Speed and reaches the traffic lights
Time stores the time as first time；
108：Judge whether the first time is more than the time that the count down information includes；
109：If so, calculating second speed according to the count down information and first distance, the second speed is mesh
Mark vehicle reaches the minimum speed of the traffic lights at the end of countdown；
110：The target vehicle is controlled to travel with the second speed.
As a kind of preferred embodiment of the present invention, further include：
The image at left and right sides of the target vehicle moving direction is obtained, is stored the image as the second image；
Judge to whether there is moving obstacle in second image；
If so, extracting the moving obstacle；
Obtain the location information and movement speed of the moving obstacle；
Obtain the location information and travel speed of the target vehicle；
Judge whether the target vehicle can meet with the moving obstacle；
If so, exporting information warning to user.
As a kind of preferred embodiment of the present invention, further include after exporting information warning to user：
The distance between the moving obstacle and the target vehicle are calculated, the distance is deposited as second distance
Storage；
Judge whether the second distance has the tendency that reduction；
If so, judging whether the second distance is less than or equal to pre-determined distance；
Slow down if so, controlling the target vehicle.
As a kind of preferred embodiment of the present invention, the second speed is calculated according to the count down information and first distance
Degree further includes：
System is built-in with pre-set velocity, and the pre-set velocity is the maximum speed limit in track residing for the target vehicle；
Judge whether the second speed is more than the pre-set velocity；
If so, without control.
As a kind of preferred embodiment of the present invention, the colouring information and count down information of the traffic lights are extracted
Further include：
Judge that the traffic lights whether there is count down information；
If so, extracting the count down information；
If it is not, then judging whether the traffic lights are in green light or amber light state according to the colouring information；
If so, exporting deceleration to user.
A kind of automated driving system based on travel speed variation, including the camera shooting of the first camera, second camera, third
Head and vibration module, first camera be configured as obtain target vehicle moving direction in front of image, described second
Camera is configured as obtaining the image on the left of target vehicle moving direction, and the third camera is configured as obtaining target carriage
Image on the right side of moving direction, the vibration module be configured as by second speed according to cue scale with vibration mode to
Family is exported, and exports information warning and deceleration to user.
Further include audio-frequency module, the audio-frequency module is additionally configured to second as a kind of preferred embodiment of the present invention
Speed is exported with speech form to user according to cue scale, and exports information warning and deceleration to user.
The present invention realizes following advantageous effect：
A kind of automatic Pilot method based on travel speed variation provided by the invention can help automatic Pilot target vehicle to exist
Traffic lights accurately adjust travel speed quickly to reach road opposite when being in the green light stage, reduce and wait for red light waste
Time；During target vehicle gives it the gun, the moving obstacle of automatic identification user's moving direction both sides simulates institute
Moving obstacle and the movement profiles of user are stated, when the two may meet, by vibration module or audio-frequency module to user
Export information warning；Before the curve movement meets, moving obstacle is monitored into Mobile state, when the moving obstacle
When the distance between user is less than or equal to pre-determined distance, control targe vehicle deceleration traveling；When what is be calculated drives automatically
When sailing maximum speed limit of the speed more than fleet residing for target vehicle, then without control；When traffic lights can including to count
When device when, when traffic lights are in non-red light phase, automatically prompting user slow down.
Description of the drawings
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the disclosure
Example, and consistent with the instructions for explaining the principles of this disclosure.Fig. 1 is provided by the invention a kind of based on travel speed variation
Automatic Pilot method flow diagram；
Fig. 2 is second speed maximum value determination method flow chart provided by the invention；
Fig. 3 is the retarding method flow chart of no count-down device provided by the invention；
Fig. 4 is the alarming method for power flow chart provided by the invention for user；
Fig. 5 is target vehicle retarding method flow chart provided by the invention；
Fig. 6 is a kind of automated driving system structure diagram based on travel speed variation provided by the invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Embodiment one
As shown in Figure 1, the present embodiment provides a kind of automatic Pilot method based on travel speed variation, include the following steps：
101：The image in front of target vehicle travel direction is obtained, is stored image as the first image；
102：Judge to whether there is traffic lights in the first image；
103：If so, extract the colouring information and count down information of traffic lights, colouring information includes red light phase, green
Lamp state and amber light state；
104：Judge whether traffic lights are in green light phase according to colouring information；
105：If so, obtaining the current travel speed of target vehicle, stored travel speed as First Speed；
106：The distance between target vehicle and traffic lights are calculated according to the first image, will be carried out apart from as the first distance
Storage；
107：The time of target vehicle exterior traffic signal lamp is calculated according to the first distance and First Speed, will the time as the
One time was stored；
108：Judge whether be more than the time that count down information includes at the first time；
109：If so, calculating second speed according to count down information and the first distance, second speed is that target vehicle is falling to count
When at the end of exterior traffic signal lamp minimum speed；
110：Control targe vehicle is travelled with second speed.
As shown in Fig. 2, further including according to count down information and the first distance calculating second speed：
System is built-in with pre-set velocity, and pre-set velocity is the maximum speed limit in track residing for target vehicle；
Judge whether second speed is more than pre-set velocity；
If so, without control.
As shown in figure 3, extracting the colouring information of traffic lights and count down information further includes：
Judge that traffic lights whether there is count down information；
If so, extracting count down information；
If it is not, then judging whether traffic lights are in green light or amber light state according to colouring information；
If so, exporting deceleration to user.
Specifically, in a step 101, the first camera 301 obtains the image in front of target vehicle travel direction, the image
It is temporarily stored as the first image, the first image is updated with the movement of target vehicle.In a step 102, it first takes the photograph
As first 301 can obtain a certain range of first image in front of target vehicle moving direction, judge whether deposited in the first image
In traffic lights, if target vehicle farther out and when travel speed is slower, is then not present and carries out apart from traffic lights distance
Necessity of prompt, system are built-in with preset range, and preset range is less than or equal to the coverage of the first camera 301, in order to
The more travel speed of matching target vehicle and the countdown of traffic lights are long, and the present invention will judge range shorter to default model
It encloses, that is, judges to whether there is traffic lights in preset range.In step 103, if occurring traffic lights in preset range,
It includes colouring information and count down information to extract traffic lights, colouring information include red light phase, green light phase and
Three kinds of states of amber light state, count down information are the remaining duration of corresponding light color state.
In order to reduce the time that user waits for red light, the present invention helps target vehicle to pass through as early as possible in green light, in step
In 104, judge whether traffic lights are in green light phase according to colouring information.In step 105, if friendship in preset range
Ventilating signal lamp is in green light phase, obtains the current travel speed of target vehicle and is temporarily deposited as First Speed
Storage, First Speed are updated with the movement of target vehicle, and First Speed is average speed, specifically be may be set in 1s or 2s
Average speed.In step 106, the distance between target vehicle and traffic lights are calculated according to the first image, it will be apart from work
It is temporarily stored for the first distance, the first distance is updated with the movement of target vehicle, and the first distance is worked as target vehicle
The shortest distance between front position and road opposite, i.e. target vehicle by green light by the shortest distance.In step 107
In, by first distance divided by First Speed obtain target vehicle with current motion state reach road opposite needed for time,
It is temporarily stored the time being calculated as first time, is updated at the first time with the movement of target vehicle.?
In step 108, the time that current count down information includes is extracted, it is current to judge whether the first time under current time is more than
The time that count down information includes, meaning are to judge that can target vehicle be arrived with current motion state before countdown terminates
Up to road opposite.In step 109, if the first time under synchronization is more than the time that count down information includes, table
Bright target vehicle can not reach road opposite with current motion state before green light countdown terminates, and the present invention is provided with this
Advisory speed obtains the time that the first distance divided by count down information include to reach road opposite before countdown terminates
Required speed is temporarily stored using the speed being calculated as second speed, second speed with target vehicle movement
And update, second speed is advisory speed.In step 110, vibrational feedback, user are provided a user by what user wore
The size of second speed is perceived by the vibration frequency of vibration module 304, audio-frequency module 305 also can export second speed and carry
Show the information of grade.
System generates pre-set velocity according to track residing for target vehicle, and pre-set velocity is the maximum in track residing for target vehicle
Speed limit, in step 109, if second speed is more than pre-set velocity, then not control targe vehicle automatic running.
When for part way using not including the traffic lights of count-down device, accurate second speed can not be provided,
If traffic lights are in red light phase, without any prompt；If traffic lights are in green light or amber light state
When, to prevent traffic lights from switching color suddenly, the letter that slows down is exported to user by vibration module 304 or audio output module
Breath.
Embodiment two
As shown in figure 4, obtaining the image at left and right sides of target vehicle moving direction, stored image as the second image；
Judge to whether there is moving obstacle in the second image；
If so, extracting moving obstacle；
Obtain the location information and movement speed of moving obstacle；
Obtain the location information and travel speed of target vehicle；
Judge whether target vehicle can meet with moving obstacle；
If so, exporting information warning to user.
As shown in figure 5, further including after exporting information warning to user：
The distance between moving obstacle and target vehicle are calculated, will be stored apart from as second distance；
Judge whether second distance has the tendency that reduction；
If so, judging whether second distance is less than or equal to pre-determined distance；
If so, control targe vehicle deceleration.
Specifically, the present invention assists user to understand ambient enviroment by the second photographic device and third photographic device,
Second photographic device and the image of third photographic device difference photographic subjects vehicle moving direction both sides, and by two parts image
It is aggregated into the second image temporarily to be stored, the second image is updated with the movement of target vehicle, and mesh is helped according to the second image
Mark vehicle evades moving obstacle.First, it is determined that whether there is moving obstacle in the second image, if so, extracting mobile barrier
Hinder object, obtains the location information of the moving obstacle under synchronization and the location information of movement speed and target vehicle respectively
And travel speed, the curve movement of the two is drawn, and judge whether the two can meet before countdown terminates, if so, logical
It crosses vibration module 304 or voice module and exports information warning to user, prevent target vehicle from striking moving obstacle.Except this it
Outside, moving obstacle will also be monitored into Mobile state, calculates the distance between moving obstacle and target vehicle in real time, and will be upper
It states distance temporarily to be stored as second distance, second distance is updated with the movement of target vehicle, and the present invention is also built-in
There are pre-determined distance, pre-determined distance minimum safe distance between moving obstacle and target vehicle, in the present embodiment, setting pre-
If distance is 2m, when second distance is less than or equal to pre-determined distance, by vibration module 304 or audio-frequency module 305 to user
Deceleration is exported, deceleration has corresponding vibration frequency.
Embodiment three
As shown in fig. 6, a kind of automated driving system based on travel speed variation includes the first camera 301, second camera
302, third camera 303, vibration module 304 and audio-frequency module 305, the first camera 301 are configured as obtaining target carriage
Image in front of moving direction, second camera 302 are configured as obtaining the image on the left of target vehicle moving direction, third
Camera 303 is configured as obtaining the image on the right side of target vehicle moving direction, and vibration module 304 is configured as second speed
It is exported to user with vibration mode according to cue scale, and information warning and deceleration, audio is exported to user
Module 305 is additionally configured to according to cue scale export second speed to user with speech form, and defeated to user
Go out information warning and deceleration.
It should be understood that in embodiment three, the specific implementation process of above-mentioned modules (can be implemented with above method embodiment
Example one and embodiment two) description it is corresponding, be not described in detail herein.
The system that above-described embodiment three is provided only the example of the division of the above functional modules actually is answered
In, it can be completed, i.e., divided the internal structure of system by different function modules as needed and by above-mentioned function distribution
At different function modules, to complete all or part of the functions described above.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow the skill for being familiar with the technical field
Art personnel can understand the content of the present invention and implement it accordingly, and can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of automatic Pilot method based on travel speed variation, it is characterised in that：Include the following steps：
101：The image in front of target vehicle travel direction is obtained, is stored the image as the first image；
102：Judge to whether there is traffic lights in first image；
103：If so, extracting the colouring information and count down information of the traffic lights, the colouring information includes red
Lamp state, green light phase and amber light state；
104：Judge whether the traffic lights are in green light phase according to the colouring information；
105：If so, obtaining the current travel speed of the target vehicle, the travel speed is deposited as First Speed
Storage；
106：The distance between the target vehicle and the traffic lights are calculated according to first image, by the distance
It is stored as the first distance；
107：It calculates the target vehicle according to first distance and the First Speed and reaches the traffic lights
Time stores the time as first time；
108：Judge whether the first time is more than the time that the count down information includes；
109：If so, calculating second speed according to the count down information and first distance, the second speed is mesh
Mark vehicle reaches the minimum speed of the traffic lights at the end of countdown；
110：The target vehicle is controlled to travel with the second speed.
2. a kind of automatic Pilot method based on travel speed variation according to claim 1, it is characterised in that：Also wrap
It includes：
The image at left and right sides of the target vehicle moving direction is obtained, is stored the image as the second image；
Judge to whether there is moving obstacle in second image；
If so, extracting the moving obstacle；
Obtain the location information and movement speed of the moving obstacle；
Obtain the location information and travel speed of the target vehicle；
Judge whether the target vehicle can meet with the moving obstacle；
If so, exporting information warning to user.
3. a kind of automatic Pilot method based on travel speed variation according to claim 2, it is characterised in that：To user
Further include after output information warning：
The distance between the moving obstacle and the target vehicle are calculated, the distance is deposited as second distance
Storage；
Judge whether the second distance has the tendency that reduction；
If so, judging whether the second distance is less than or equal to pre-determined distance；
Slow down if so, controlling the target vehicle.
4. a kind of automatic Pilot method based on travel speed variation according to claim 1, it is characterised in that：According to institute
It states count down information and the first distance calculating second speed further includes：
System is built-in with pre-set velocity, and the pre-set velocity is the maximum speed limit in track residing for the target vehicle；
Judge whether the second speed is more than the pre-set velocity；
If so, without control.
5. a kind of automatic Pilot method based on travel speed variation according to claim 1, it is characterised in that：It extracts
The colouring information and count down information of the traffic lights further include：
Judge that the traffic lights whether there is count down information；
If so, extracting the count down information；
If it is not, then judging whether the traffic lights are in green light or amber light state according to the colouring information；
If so, exporting deceleration to user.
6. according to a kind of automated driving system based on travel speed variation of claim 1-5 any one of them, feature exists
In：Including the first camera, second camera, third camera and vibration module, first camera is configured as obtaining
The image in front of target vehicle moving direction, the second camera is taken to be configured as obtaining on the left of target vehicle moving direction
Image, the third camera are configured as obtaining the image on the right side of target vehicle moving direction, and the vibration module is configured
To export second speed to user with vibration mode according to cue scale, and exports information warning to user and subtract
Fast information.
7. a kind of automated driving system based on travel speed variation according to claim 6, it is characterised in that：Further include
Audio-frequency module, the audio-frequency module are additionally configured to according to cue scale carry out second speed to user with speech form defeated
Go out, and information warning and deceleration are exported to user.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810561748.7A CN108765947A (en) | 2018-06-04 | 2018-06-04 | A kind of automatic Pilot method and its system based on travel speed variation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810561748.7A CN108765947A (en) | 2018-06-04 | 2018-06-04 | A kind of automatic Pilot method and its system based on travel speed variation |
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| CN108765947A true CN108765947A (en) | 2018-11-06 |
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ID=64002310
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| CN201810561748.7A Withdrawn CN108765947A (en) | 2018-06-04 | 2018-06-04 | A kind of automatic Pilot method and its system based on travel speed variation |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110706494A (en) * | 2019-10-30 | 2020-01-17 | 北京百度网讯科技有限公司 | Control method, device, equipment and storage medium for automatic driving vehicle |
| CN111862635A (en) * | 2020-02-28 | 2020-10-30 | 重庆长安汽车股份有限公司 | Traffic signal lamp-based vehicle speed control method and device and automobile |
| CN112406876A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪股份有限公司 | Vehicle, and control method and control device thereof |
| CN112644369A (en) * | 2021-01-12 | 2021-04-13 | 集瑞联合重工有限公司 | Control method and system for vehicular sign lamp |
| CN112829762A (en) * | 2019-11-25 | 2021-05-25 | 华为技术有限公司 | Vehicle running speed generation method and related equipment |
| CN113247003A (en) * | 2021-06-29 | 2021-08-13 | 中国联合网络通信集团有限公司 | Speed evaluation method, device and equipment based on green wave passage and storage medium |
| CN113706790A (en) * | 2021-09-28 | 2021-11-26 | 平安国际智慧城市科技股份有限公司 | Method, system, device, equipment and medium for driving assistance |
| CN113815616A (en) * | 2021-09-17 | 2021-12-21 | 宁波吉利罗佑发动机零部件有限公司 | Vehicle control method and device |
| CN114104044A (en) * | 2020-08-28 | 2022-03-01 | 比亚迪股份有限公司 | Train control method, storage medium, vehicle controller, and train |
| CN114999192A (en) * | 2022-04-11 | 2022-09-02 | 华东师范大学 | Traffic signal lamp intelligent recognition device based on Zynq7020 |
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| CN112406876A (en) * | 2019-08-23 | 2021-02-26 | 比亚迪股份有限公司 | Vehicle, and control method and control device thereof |
| CN110706494A (en) * | 2019-10-30 | 2020-01-17 | 北京百度网讯科技有限公司 | Control method, device, equipment and storage medium for automatic driving vehicle |
| CN112829762A (en) * | 2019-11-25 | 2021-05-25 | 华为技术有限公司 | Vehicle running speed generation method and related equipment |
| CN116135654A (en) * | 2019-11-25 | 2023-05-19 | 华为技术有限公司 | Vehicle running speed generation method and related equipment |
| CN111862635A (en) * | 2020-02-28 | 2020-10-30 | 重庆长安汽车股份有限公司 | Traffic signal lamp-based vehicle speed control method and device and automobile |
| CN114104044A (en) * | 2020-08-28 | 2022-03-01 | 比亚迪股份有限公司 | Train control method, storage medium, vehicle controller, and train |
| CN112644369A (en) * | 2021-01-12 | 2021-04-13 | 集瑞联合重工有限公司 | Control method and system for vehicular sign lamp |
| CN113247003A (en) * | 2021-06-29 | 2021-08-13 | 中国联合网络通信集团有限公司 | Speed evaluation method, device and equipment based on green wave passage and storage medium |
| CN113815616A (en) * | 2021-09-17 | 2021-12-21 | 宁波吉利罗佑发动机零部件有限公司 | Vehicle control method and device |
| CN113815616B (en) * | 2021-09-17 | 2023-05-30 | 宁波吉利罗佑发动机零部件有限公司 | Vehicle control method and device |
| CN113706790A (en) * | 2021-09-28 | 2021-11-26 | 平安国际智慧城市科技股份有限公司 | Method, system, device, equipment and medium for driving assistance |
| CN114999192A (en) * | 2022-04-11 | 2022-09-02 | 华东师范大学 | Traffic signal lamp intelligent recognition device based on Zynq7020 |
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Application publication date: 20181106 |